Precision grasping of a prosthetic hand based on virtual spring damper hypothesis

A control strategy for achieving object precision grasping by a prosthetic hand is proposed. The control strategy is based on defining virtual spring-damper between two finger tips and damping force at each finger joint. It is shown that the proposed control strategy provides a satisfactory performance in precision grasping of a prosthetic hand, without the need for additional complexity regarding equations for inverse kinematics, or inverse dynamics, and the information on tactile or force sensing or even object shape.